WO2014012609A1 - Verfahren zum abbremsen einer kombination von mehreren miteinander gekoppelten fahrzeugen - Google Patents
Verfahren zum abbremsen einer kombination von mehreren miteinander gekoppelten fahrzeugen Download PDFInfo
- Publication number
- WO2014012609A1 WO2014012609A1 PCT/EP2013/001705 EP2013001705W WO2014012609A1 WO 2014012609 A1 WO2014012609 A1 WO 2014012609A1 EP 2013001705 W EP2013001705 W EP 2013001705W WO 2014012609 A1 WO2014012609 A1 WO 2014012609A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- vehicles
- trailer
- brakes
- data
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/20—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger specially for trailers, e.g. in case of uncoupling of or overrunning by trailer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
- B60T8/1887—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution especially adapted for tractor-trailer combinations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/241—Lateral vehicle inclination
- B60T8/243—Lateral vehicle inclination for roll-over protection
Definitions
- the invention relates to a method according to the preamble of claim 1.
- the invention relates to a brake system for a vehicle.
- Trucks consisting of traction vehicle and one or more trailer vehicles, are preferably equipped with an electropneumatic brake system, in which the driver of the towing vehicle generates an electronic signal by operating the brake pedal, which is supplied via a data interface of an electronic switching unit (ECU) and from there to Modulators for actuating electropneumatic brakes arrives.
- ECU electronic switching unit
- Modulators for actuating electropneumatic brakes arrives.
- wheel speed sensors and other sensors present in the vehicle for example for determining a lateral acceleration
- numerous safety functions are implemented, for example an anti-lock braking system and a stability system for detecting a risk of tipping over. The latter can be derived not only from the lateral acceleration but also from wheel speed measurements.
- trailer vehicles are equipped with an ECU with matching data interface and receive about the braking signal of the towing vehicle.
- the trailer vehicle with its own ECU and connected sensors and modulators can independently influence or trigger braking processes, in particular as a function of blocking wheels and imminent danger of tipping over.
- Vehicles intended for the European market are typically equipped with the so-called CAN bus for transmitting data on a separate data bus.
- CAN routers allow the data transmission to more than one other vehicle and / or to a plurality of modulators and the power supply of connected braking devices.
- the latter are the ECUs for controlling the modulators for the actuation of the brakes.
- PLC bus Power Line Carrier
- PLC bus Power Line Carrier
- the trailer vehicles may have received different load and / or have different focal points.
- a risk of tipping over for individual trailer vehicles may exist without the danger being recognizable in the towing vehicle.
- Particularly evasive are evasive maneuvers, which are directed at high speed first in one direction and then in the other direction.
- a trailer with two trailer vehicles is known, in which only one of the trailer is equipped with a system for independent braking, but the other trailer has at least one anti-lock system.
- the self-braking trailer ECU such as in unstable driving condition, controls an ABS valve of the second trailer.
- a situation-dependent, differentiated control of the brakes of the second trailer is therefore not possible.
- Object of the present invention is to maintain the stability of the moving trailer. In particular, the known methods are to be improved.
- the inventive method has the features of claim 1.
- a signal is sent via the data interface, indicating that the stability system for the vehicle at risk of tilting is active.
- one or more of the leading vehicles are then automatically braked.
- the ECU of this vehicle typically sends out a standardized message from which this activity results.
- the message is referred to as "VDC active", where VDC stands for Vehicle Dynamic Control.
- a message sent via the CAN data interface has a so-called identifier, which designates the sender.
- Each leading vehicle or its ECU can recognize from the above-mentioned message and from the identifier that the stability system is active in the following vehicle and, according to the invention, can brake its own vehicle as a function of this and of other parameters.
- the ECU of the vehicle only has to be provided with suitable software.
- the data required for the procedure are available and are usually provided via the known data interfaces.
- at least the vehicle which is directly in front of the vehicle which is at risk of deceleration is braked. But it can also be braked further leading vehicles. It is also possible to brake only the leading vehicles, which do not directly precede the vehicle at risk of tilting, such as the towing vehicle or the first trailer vehicle in a truck with three trailer vehicles and a third trailer vehicle tipping over.
- outside wheels of the leading vehicle are braked. This increases the stability of the leading vehicle and the truck. But it can also be braked all the wheels of the leading vehicle. As a result, a greater reduction in speed is achieved, so that a stable condition of the truck train can be restored more quickly overall.
- outside wheels of the leading vehicle are braked more strongly than inside wheels. This results in a good compromise between the fastest possible braking of the truck as a whole and the increased stability of the leading vehicle.
- leading vehicle can be braked with lower brake pressure than the vehicle at risk of tilting, in particular only up to 50% of the brake pressure of the vehicle at risk of tilting. As a result, emergence of the vehicle at risk of tipping on the leading vehicle is avoided.
- the message from which the active stability system of the vehicle at risk of tilting results is advantageously transmitted via the CAN bus to the leading vehicle and / or to other vehicles of the lorry. Also possible is a transmission directly to the towing vehicle and from there to other trailer vehicles, as far as they are leading the vehicle in danger of tilting. Alternatively, the signal can also be transmitted via a PLC bus or other data transmission system.
- An inventive brake system has the features of claim 8.
- the braking system is set up in such a way that the ECU of the vehicle brakes when data of a following vehicle signal a danger of tipping over of the following vehicle and / or if data of the following vehicle signal that its stability system is active.
- the subject of the invention is also a vehicle with a corresponding brake system.
- it is a trailer vehicle.
- a towing vehicle with the braking system.
- the vehicle has together with the electronic braking system or as parts thereof an ECU, data lines for connection to leading and trailing vehicles and preferably at least one CAN router or a similar device for forwarding data.
- 1 is a trailer train in which a rear trailer vehicle is braked in the range of outside wheels
- Fig. 2 shows the truck according to Figure 1, but in addition with braking first
- Fig. 3 is a trailer with towing vehicle and three trailer vehicles.
- the electronic brake system in each vehicle includes at least one electronic switching unit ECU, the ECUs communicate with each other via a data interface.
- ECU electronic switching unit
- data transmission from vehicle to vehicle or from ECU to ECU is typically provided with a CAN bus.
- Other types of data transmission may be envisaged for other markets, such as a North American Power Line Carrier.
- the electronic brake system EBS includes a certain autonomy in the braking behavior of each vehicle 10, 1 1, 12.
- the EBS includes a stability control and initiates autonomous braking measures to support and maintain stable driving conditions. Particularly critical is the risk of tipping when cornering by sudden evasive maneuvers or other reasons.
- the ECU provided in each vehicle preferably has a lateral acceleration sensor. From the measured lateral acceleration values in connection with other data, such as axle load sensors or wheel load sensors, a risk of tipping can be detected. Axle loads or wheel loads can be easily read out via the pressures in air springs.
- a risk of tipping over is also calculable on the basis of the data provided by wheel speed sensors, not shown anyway. These are core components of an antilock braking system. By comparing the wheel speeds, possibly in conjunction with current brake pressures, it can be seen whether there are critical driving situations or even a risk of tipping when cornering.
- the EBS of the vehicle concerned brakes the wheels on the outside of the bend.
- FIG. 1 shows this case for the second trailer vehicle 12.
- There braking forces F act on outer wheels 13 against the direction of travel according to arrow 14.
- the outer wheels 13 of the truck is slower overall and the risk of tipping is reduced.
- the braking effect is not optimal, since only about 14% of the total existing wheels of the truck are braked.
- the EBS of the second trailer vehicle 12 leading first trailer vehicle 1 1 reacts and supports the braking. This is possible because the ECU of the second trailer vehicle 12 not only activates its own brakes in case of danger of tipping over, but at the same time signals via the data connection to the other vehicles that the stability control is active. Together with the signal a so-called identifier is sent, from which it can be seen which vehicle has sent the signal.
- the EBS in leading to the unstable second trailer vehicle 12 first trailer vehicle 1 1 responds to the message received and brakes the first trailer vehicle 1 1.
- the braking of the leading trailer vehicle 1 1 is a supporting measure for the previous braking of the trailing second trailer vehicle 12 to reduce or eliminate the risk of tipping over.
- the braking of the leading first trailer vehicle can therefore be referred to as derived braking.
- the first appendix For example, in FIG. 1, there are four wheel groups, namely, a front outer wheel group 15, a front inner wheel group 16, a rear outer wheel group 17, and a rear inner wheel group 18.
- the terms “inner” and “outer” refer to the current driven curve of the truck as in the designation of the outer wheel group 13 of the second trailer vehicle 12.
- the wheel groups 15 to 18 of the first trailer vehicle 1 1 braked equally strong, at least when there is no risk of tipping over for the first trailer vehicle 1 1.
- the brake pressure is chosen so that the second trailer vehicle does not run aground.
- the brake pressure in the leading trailer vehicle 1 1 is lower than in the trailer vehicle 12 or even half as high. Nevertheless, the load train as a whole has significantly greater braking than just the outer wheels 13 of the second trailer 12.
- the leading trailer vehicle 1 1 only certain wheels are braked, preferably the outer wheel groups 15, 17.
- the outer wheel groups 15, 17 In the constellation shown in FIG. 2 with additionally braking wheel groups 15 to 18 on the first trailer vehicle 1 1, approximately 59% The existing wheels of the trailer truck braked. If only the outer wheel groups 15, 17 mitbremsen, after all, about 37% of the wheels are braked.
- FIG. 3 An example of a tractor-trailer truck 19 and three trailer vehicles 20, 21, 22 is shown in FIG. 3. Only data connections between the vehicles are shown Vehicles, but not existing pneumatic lines for the compressed air brakes.
- An ECU 23 of towing vehicle 19 is connected via data lines 24, 25 to a CAN router 26 in first trailer vehicle 20. Analogously, there is a connection via data lines 27, 28 from the CAN router 26 to a CAN router 29 in the second trailer 21.
- a CAN router 30 in the third trailer vehicle 22 is connected to the CAN router 29 via data lines 31, 32.
- a data line 33 extends from the CAN router 30 to the rear end of the third trailer vehicle 22.
- each trailer vehicle 20, 21, 22 is provided with an ECU, a CAN router, data lines for connection to leading and trailing vehicles, and other components of an electronic braking system.
- the data lines are intended for data transmission in accordance with ISO 1 1992 (CAN bus), as are the CAN routers. It is therefore separate lines, separate from the usual power cables for transmission of electrical energy from vehicle to vehicle. In an analogous manner, however, data or digital signals can also be transmitted and distributed on power lines, for example according to the principle of the power line carrier, as is known from the vehicles provided for the North American market.
- Each trailer vehicle 20, 21, 22 may have a lateral acceleration sensor (not shown), in particular within the respective ECU 37, 38, 39.
- the ECU 38 of the second trailer vehicle 21 detects a risk of tipping due to the lateral acceleration or due to the evaluation of wheel speed sensors (not shown), the standardized message "VDC active" is sent via the CAN bus or the data lines together with a sender information to the other vehicles 19, 20, 22.
- the ECU 38 does not control shown brakes of the second trailer vehicle 21, at least on the outside of the brakes.
- the preceding trailer vehicle 20 detects the braking operation of the trailing trailer vehicle 21 and the reason for this and actuates its own brakes as a supporting measure, in particular the brakes of the outside wheels or the brakes of all wheels.
- the braking force is metered to prevent emergence of the trailing trailer vehicles 21, 22.
- the last trailer vehicle 22 can also be braked in this case.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2013292777A AU2013292777B2 (en) | 2012-07-19 | 2013-06-11 | Method for braking a combination of a plurality of vehicles coupled to one another |
EP13729262.9A EP2874855B1 (de) | 2012-07-19 | 2013-06-11 | Verfahren zum abbremsen einer kombination von mehreren miteinander gekoppelten fahrzeugen |
BR112015001183A BR112015001183A2 (pt) | 2012-07-19 | 2013-06-11 | processo para a freagem de uma combinação de vários veículos acoplados uns com os outros |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012014408.3A DE102012014408A1 (de) | 2012-07-19 | 2012-07-19 | Verfahren zum Abbremsen einer Kombination von mehreren miteinander gekoppelten Fahrzeugen |
DE102012014408.3 | 2012-07-19 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014012609A1 true WO2014012609A1 (de) | 2014-01-23 |
Family
ID=48628606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2013/001705 WO2014012609A1 (de) | 2012-07-19 | 2013-06-11 | Verfahren zum abbremsen einer kombination von mehreren miteinander gekoppelten fahrzeugen |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP2874855B1 (de) |
AU (1) | AU2013292777B2 (de) |
BR (1) | BR112015001183A2 (de) |
DE (1) | DE102012014408A1 (de) |
WO (1) | WO2014012609A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2998174A1 (de) * | 2014-09-17 | 2016-03-23 | Continental Automotive Systems, Inc. | Elektronisches bremssystem (ebs) mit nutzung von integrierter oder nichtintegrierter elektronischer anhängerbremse während der ebs-funktion |
WO2019120660A1 (en) * | 2017-12-20 | 2019-06-27 | Haldex Brake Products Ab | Braking system |
WO2021173942A1 (en) * | 2020-02-27 | 2021-09-02 | Bendix Commercial Vehicle Systems Llc | Interface device interfacing tractor and towed unit networks in a combination vehicle |
WO2022253674A1 (de) * | 2021-06-02 | 2022-12-08 | Zf Cv Systems Europe Bv | Verfahren und elektronisches steuergerät zur steuerung einer bremsanlage eines kraftfahrzeugs |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102015215802B4 (de) | 2015-08-19 | 2024-06-06 | Zf Friedrichshafen Ag | Stabilisierung einer Fahrzeugkombination |
DE102016117438A1 (de) | 2016-09-16 | 2018-03-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren und Vorrichtung zum Steuern einer Bewegung eines Fahrzeugs und Fahrzeugbewegungssteuersystem |
EP3379222B1 (de) | 2017-03-22 | 2020-12-30 | Methode Electronics Malta Ltd. | Auf magnetoelastik basierte sensoranordnung |
US11135882B2 (en) | 2018-02-27 | 2021-10-05 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11491832B2 (en) | 2018-02-27 | 2022-11-08 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11084342B2 (en) | 2018-02-27 | 2021-08-10 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
US11221262B2 (en) | 2018-02-27 | 2022-01-11 | Methode Electronics, Inc. | Towing systems and methods using magnetic field sensing |
EP3758959A4 (de) | 2018-02-27 | 2022-03-09 | Methode Electronics, Inc. | Schleppsysteme und -verfahren mit verwendung von magnetfeldmessung |
DE102018121164A1 (de) * | 2018-08-30 | 2020-03-05 | Wabco Gmbh | Verfahren zum Bereitstellen von Daten eines Lastzuges |
DE102022116596A1 (de) | 2022-07-04 | 2024-01-04 | Zf Cv Systems Global Gmbh | Anhängersteuergerät zum Ansteuern eines elektrischen Antriebs eines Anhängerfahrzeugs sowie Verfahren zum Ansteuern des elektrischen Antriebs mit dem Anhängersteuergerät |
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- 2013-06-11 BR BR112015001183A patent/BR112015001183A2/pt not_active IP Right Cessation
- 2013-06-11 AU AU2013292777A patent/AU2013292777B2/en active Active
- 2013-06-11 WO PCT/EP2013/001705 patent/WO2014012609A1/de active Application Filing
- 2013-06-11 EP EP13729262.9A patent/EP2874855B1/de active Active
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US6225894B1 (en) * | 1998-09-24 | 2001-05-01 | Meritor Heavy Vehicle Systems, Llc | Roll-over detector for vehicles |
EP1104732A2 (de) * | 1999-12-02 | 2001-06-06 | WABCO GmbH & CO. OHG | Verfahren zur Verhinderung des Umkippens eines Fahrzeugs |
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Publication number | Priority date | Publication date | Assignee | Title |
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EP2998174A1 (de) * | 2014-09-17 | 2016-03-23 | Continental Automotive Systems, Inc. | Elektronisches bremssystem (ebs) mit nutzung von integrierter oder nichtintegrierter elektronischer anhängerbremse während der ebs-funktion |
WO2019120660A1 (en) * | 2017-12-20 | 2019-06-27 | Haldex Brake Products Ab | Braking system |
AU2018390760B2 (en) * | 2017-12-20 | 2023-08-03 | Haldex Brake Products Ab | Braking system |
WO2021173942A1 (en) * | 2020-02-27 | 2021-09-02 | Bendix Commercial Vehicle Systems Llc | Interface device interfacing tractor and towed unit networks in a combination vehicle |
US11394427B2 (en) | 2020-02-27 | 2022-07-19 | Bendix Commercial Vehicle Systems Llc | Interface device interfacing tractor and towed unit networks in a combination vehicle |
CN115315362A (zh) * | 2020-02-27 | 2022-11-08 | 邦迪克斯商用车系统有限责任公司 | 对接组合车辆中的牵引车和被牵引单元网络的接口设备 |
WO2022253674A1 (de) * | 2021-06-02 | 2022-12-08 | Zf Cv Systems Europe Bv | Verfahren und elektronisches steuergerät zur steuerung einer bremsanlage eines kraftfahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
DE102012014408A1 (de) | 2014-01-23 |
AU2013292777B2 (en) | 2016-08-11 |
BR112015001183A2 (pt) | 2017-07-04 |
EP2874855A1 (de) | 2015-05-27 |
AU2013292777A1 (en) | 2014-10-30 |
EP2874855B1 (de) | 2019-08-28 |
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